Optimizing the Setup Configuration for Manual and Robotic Assisted Minimally Invasive Surgery
In the first step we present an approach for finding optimal placement of the trocars in manual laparoscopic surgery. An augmented reality system is used to visualize the ports on the patients’ abdomen. In a second step we show how a telemanipulator system, e.g. the da Vinci® Surgical System (Intuitive Surgical Inc.), can be integrated. Therefore a reconfiguration of the ports is necessary. We present a concept for optimizing the setup configuration of the telemanipulator system. The kinematics of the telemanipulator system is taken into account. The optimization includes the placement of the trocars, the initial configuration of the robot and the operating table. The aim is to maximize the workspace for the surgeons’ instruments and to avoid collisions of the arms. A simulation of interventions is used for preoperative planning. The quality of the configuration is evaluated and used for maximization.
KeywordsOptimal planning robotic surgery computer assisted surgery port placement pose selection da Vinci Surgical System
Unable to display preview. Download preview PDF.